<?xml version="1.0" ?>
<Manifest 
    xmlns="http://schemas.microsoft.com/xw/2004/10/manifest.html"
    xmlns:dssp="http://schemas.microsoft.com/xw/2004/10/dssp.html"
    xmlns:simcommon="http://schemas.microsoft.com/robotics/2006/04/simulation.html"
    >
    <CreateServiceList>
        <!-- Start Corobot Entity Service -->
        <ServiceRecordType>
            <dssp:Contract>http://www.promrds.com/contracts/2007/07/corobot.html</dssp:Contract>
        </ServiceRecordType>
      
        <!-- Start simulated motor service -->
        <ServiceRecordType>
            <dssp:Contract>http://www.promrds.com/contracts/2007/07/simulatedquaddifferentialdrive.html</dssp:Contract>
            <dssp:PartnerList>
                <dssp:Partner>
                    <!--The partner name must match the entity name-->
                    <dssp:Service>http://localhost/Corobot</dssp:Service>
                    <dssp:Name>simcommon:Entity</dssp:Name>
                </dssp:Partner>
            </dssp:PartnerList>
        </ServiceRecordType>

      <!-- Start Front IR service -->
      <ServiceRecordType>
        <dssp:Contract>http://www.promrds.com/contracts/2007/08/simulatedir.html</dssp:Contract>
        <dssp:Service>http://localhost/Corobot/FrontIR</dssp:Service>
        <dssp:PartnerList>
          <dssp:Partner>
            <!--The partner name must match the entity name-->
            <dssp:Service>http://localhost/Corobot_frontIR</dssp:Service>
            <dssp:Name>simcommon:Entity</dssp:Name>
          </dssp:Partner>
        </dssp:PartnerList>
      </ServiceRecordType>

      <!-- Start Rear IR service -->
      <ServiceRecordType>
        <dssp:Contract>http://www.promrds.com/contracts/2007/08/simulatedir.html</dssp:Contract>
        <dssp:Service>http://localhost/Corobot/RearIR</dssp:Service>
        <dssp:PartnerList>
          <dssp:Partner>
            <!--The partner name must match the entity name-->
            <dssp:Service>http://localhost/Corobot_rearIR</dssp:Service>
            <dssp:Name>simcommon:Entity</dssp:Name>
          </dssp:Partner>
        </dssp:PartnerList>
      </ServiceRecordType>

      <!-- Start WebCam service -->
      <ServiceRecordType>
        <dssp:Contract>http://schemas.microsoft.com/2006/09/simulatedwebcam.html</dssp:Contract>
        <dssp:Service>http://localhost/Corobot/Cam</dssp:Service>
        <dssp:PartnerList>
          <dssp:Partner>
            <dssp:Service>http://localhost/Corobot_cam</dssp:Service>
            <dssp:Name>simcommon:Entity</dssp:Name>
          </dssp:Partner>
        </dssp:PartnerList>
      </ServiceRecordType>

      <!-- Start the Dashboard service -->
      <ServiceRecordType>
        <dssp:Contract>http://schemas.microsoft.com/robotics/2006/01/simpledashboard.html</dssp:Contract>
      </ServiceRecordType>

    </CreateServiceList>
</Manifest>